fix(remove ffv1): removing ffv1 as it does not support MP4

docs/source/using_dataset_tools.mdx

@@ -181,8 +181,8 @@ lerobot-edit-dataset \
 lerobot-edit-dataset \
     --repo_id lerobot/pusht_depth \
     --operation.type reencode_videos \
-    --operation.rgb_encoder.vcodec libx264 \
+    --operation.rgb_encoder.vcodec h264 \
-    --operation.depth_encoder.vcodec ffv1
+    --operation.depth_encoder.crf 50
 ```
 
 **Parameters:**

docs/source/video_encoding_parameters.mdx

@@ -102,7 +102,7 @@ lerobot-record \
 
 | Parameter   | Type    | Default      | Description                                                                                                                       |
 | ----------- | ------- | ------------ | --------------------------------------------------------------------------------------------------------------------------------- |
-| `vcodec`    | `str`   | `"hevc"`     | Defaults to HEVC Main 12 (a 12-bit-capable codec). `ffv1` is a lossless alternative.                                              |
+| `vcodec`    | `str`   | `"hevc"`     | Defaults to HEVC Main 12 (a 12-bit-capable codec). For a lossless depth stream, keep HEVC and pass `extra_options={"x265-params": "lossless=1"}` (stays MP4-compatible). |
 | `pix_fmt`   | `str`   | `"gray12le"` | Single-channel 12-bit pixel format used to carry the quantized codes.                                                             |
 | `depth_min` | `float` | `0.01`       | Depth in metres mapped to quantum `0`. Values below are clipped on decode.                                                        |
 | `depth_max` | `float` | `10.0`       | Depth in metres mapped to quantum `4095`. Values above are clipped on decode.                                                     |

src/lerobot/configs/video.py

@@ -37,7 +37,7 @@ HW_VIDEO_CODECS = [
     "h264_qsv",  # Intel Quick Sync
 ]
 VALID_VIDEO_CODECS: frozenset[str] = frozenset(
-    {"h264", "hevc", "libsvtav1", "ffv1", "auto", *HW_VIDEO_CODECS}
+    {"h264", "hevc", "libsvtav1", "auto", *HW_VIDEO_CODECS}
 )
 # Aliases for legacy video codec names.
 VIDEO_CODECS_ALIASES: dict[str, str] = {"av1": "libsvtav1"}
@@ -234,10 +234,6 @@ class VideoEncoderConfig:
         elif self.vcodec == "h264_qsv":
             set_if("global_quality", self.crf)
             set_if("preset", self.preset)
-        elif self.vcodec == "ffv1":
-            # Lossless intra-frame codec. ``crf``/``preset``/``fast_decode``
-            # are not meaningful.
-            set_if("threads", encoder_threads)
         else:
             set_if("crf", self.crf)
             set_if("preset", self.preset)

src/lerobot/datasets/depth_utils.py

@@ -79,7 +79,7 @@ def quantize_depth(
 
     Depth maps are packed into 12-bit integer frames so they fit in standard
     high-bit-depth pixel formats (e.g. ``yuv420p12le`` / ``gray12le``)
-    and can be encoded by widely supported video codecs (HEVC Main 12, ffv1).
+    and can be encoded by widely supported video codecs (e.g. HEVC Main 12).
     Logarithmic quantization is the default because it allocates more quanta
     to near-range depth, which matches the (1/depth) error profile of typical
     depth sensors. Math is ported from BEHAVIOR-1K's ``obs_utils.py``.

src/lerobot/scripts/lerobot_edit_dataset.py

@@ -224,8 +224,8 @@ Re-encode both RGB and depth videos in a dataset (depth quantization params are
     lerobot-edit-dataset \
         --repo_id lerobot/pusht_depth \
         --operation.type reencode_videos \
-        --operation.rgb_encoder.vcodec libx264 \
+        --operation.rgb_encoder.vcodec h264 \
-        --operation.depth_encoder.vcodec ffv1
+        --operation.depth_encoder.extra_options '{"x265-params": "lossless=1"}'
 
 Using JSON config file:
     lerobot-edit-dataset \

tests/datasets/test_datasets.py

@@ -1531,7 +1531,6 @@ def test_valid_video_codecs_constant():
     assert "h264" in VALID_VIDEO_CODECS
     assert "hevc" in VALID_VIDEO_CODECS
     assert "libsvtav1" in VALID_VIDEO_CODECS
-    assert "ffv1" in VALID_VIDEO_CODECS
     assert "auto" in VALID_VIDEO_CODECS
     assert "h264_videotoolbox" in VALID_VIDEO_CODECS
     assert "h264_nvenc" in VALID_VIDEO_CODECS
@@ -1539,7 +1538,7 @@ def test_valid_video_codecs_constant():
     assert "h264_qsv" in VALID_VIDEO_CODECS
     assert "hevc_videotoolbox" in VALID_VIDEO_CODECS
     assert "hevc_nvenc" in VALID_VIDEO_CODECS
-    assert len(VALID_VIDEO_CODECS) == 11
+    assert len(VALID_VIDEO_CODECS) == 10
 
 
 def test_delta_timestamps_with_episodes_filter(tmp_path, empty_lerobot_dataset_factory):

tests/scripts/test_edit_dataset_parsing.py

@@ -123,15 +123,15 @@ class TestDepthEncoderParsing:
                 "test/repo",
                 "--operation.type",
                 "reencode_videos",
-                "--operation.depth_encoder.vcodec",
+                "--operation.depth_encoder.extra_options",
-                "ffv1",
+                '{"x265-params": "lossless=1"}',
                 "--operation.depth_encoder.depth_max",
                 "12.0",
                 "--operation.depth_encoder.use_log",
                 "false",
             ]
         )
-        assert cfg.operation.depth_encoder.vcodec == "ffv1"
+        assert cfg.operation.depth_encoder.extra_options == {"x265-params": "lossless=1"}
         assert cfg.operation.depth_encoder.depth_max == 12.0
         assert cfg.operation.depth_encoder.use_log is False